OpenRaiser/Intern-Atlas huggingface dataset:
A Self-Supervised Learning Approach to Rapid Path Planning for Car-Like Vehicles Maneuvering in Urban Environment
Venue: arXiv cs.RO 2020
Year: 2020

An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city traffic scenarios are highly dynamic. State-of-the-art planning algorithms handle such difficult cases at high computational cost, often yielding non-deterministic results. However, feasible local paths can be quickly generated leveraging the past planning experience gained in the same or similar environment. While learning through supervised training is problematic for real traffic scenarios, we introduce in this paper a novel neural network-based method for path planning, which employs a gradient-based self-supervised learning algorithm to predict feasible paths. This approach strongly exploits the experience gained in the past and rapidly yields feasible maneuver plans for car-like vehicles with limited steering-angle. The effectiveness of such an approach has been confirmed by computational experiments.
Differential Privacy at Risk: Bridging Randomness and Privacy Budget
Venue: arXiv cs.CR 2020
Year: 2020

The calibration of noise for a privacy-preserving mechanism depends on the sensitivity of the query and the prescribed privacy level. A data steward must make the non-trivial choice of a privacy level that balances the requirements of users and the monetary constraints of the business entity. We analyse roles of the sources of randomness, namely the explicit randomness induced by the noise distribution and the implicit randomness induced by the data-generation distribution, that are involved in the design of a privacy-preserving mechanism. The finer analysis enables us to provide stronger privacy guarantees with quantifiable risks. Thus, we propose privacy at risk that is a probabilistic calibration of privacy-preserving mechanisms. We provide a composition theorem that leverages privacy at risk. We instantiate the probabilistic calibration for the Laplace mechanism by providing analytical results. We also propose a cost model that bridges the gap between the privacy level and the compensation budget estimated by a GDPR compliant business entity. The convexity of the proposed cost model leads to a unique fine-tuning of privacy level that minimises the compensation budget. We show its effectiveness by illustrating a realistic scenario that avoids overestimation of the compensation budget by using privacy at risk for the Laplace mechanism. We quantitatively show that composition using the cost optimal privacy at risk provides stronger privacy guarantee than the classical advanced composition.
Topological Differential Testing
Venue: arXiv cs.SE 2020
Year: 2020

We introduce topological differential testing (TDT), an approach to extracting the consensus behavior of a set of programs on a corpus of inputs. TDT uses the topological notion of a simplicial complex (and implicitly draws on richer topological notions such as sheaves and persistence) to determine inputs that cause inconsistent behavior and in turn reveal \emph{de facto} input specifications. We gently introduce TDT with a toy example before detailing its application to understanding the PDF file format from the behavior of various parsers. Finally, we discuss theoretical details and other possible applications.
Identification of primary and collateral tracks in stuttered speech
Venue: arXiv cs.CL 2020
Year: 2020

Disfluent speech has been previously addressed from two main perspectives: the clinical perspective focusing on diagnostic, and the Natural Language Processing (NLP) perspective aiming at modeling these events and detect them for downstream tasks. In addition, previous works often used different metrics depending on whether the input features are text or speech, making it difficult to compare the different contributions. Here, we introduce a new evaluation framework for disfluency detection inspired by the clinical and NLP perspective together with the theory of performance from \cite{clark1996using} which distinguishes between primary and collateral tracks. We introduce a novel forced-aligned disfluency dataset from a corpus of semi-directed interviews, and present baseline results directly comparing the performance of text-based features (word and span information) and speech-based (acoustic-prosodic information). Finally, we introduce new audio features inspired by the word-based span features. We show experimentally that using these features outperformed the baselines for speech-based predictions on the present dataset.
A Feature-aware SPH for Isotropic Unstructured Mesh Generation
Venue: arXiv cs.GR 2020
Year: 2020

In this paper, we present a feature-aware SPH method for the concurrent and automated isotropic unstructured mesh generation. Two additional objectives are achieved with the proposed method compared to the original SPH-based mesh generator (Fu et al., 2019). First, a feature boundary correction term is introduced to address the issue of incomplete kernel support at the boundary vicinity. The mesh generation of feature curves, feature surfaces and volumes can be handled concurrently without explicitly following a dimensional sequence. Second, a two-phase model is proposed to characterize the mesh-generation procedure by a feature-size-adaptation phase and a mesh-quality-optimization phase. By proposing a new error measurement criterion and an adaptive control system with two sets of simulation parameters, the objectives of faster feature-size adaptation and local mesh-quality improvement are merged into a consistent framework. The proposed method is validated with a set of 2D and 3D numerical tests with different complexities and scales. The results demonstrate that high-quality meshes are generated with a significant speedup of convergence.
Reconfigurable Parallel Architecture of High Speed Round Robin Arbiter
Venue: arXiv cs.DC 2020
Year: 2020

With a view to managing the increasing traffic in computer networks, round robin arbiter has been proposed to work with packet switching system to have increased speed in providing access and scheduling. Round robin arbiter is a doorway to a particular bus based on request along with equal priority and gives turns to devices connected to it in a cyclic order. Considering the rapid growth in computer networking and the emergence of computer automation which will need much more access to the existing limited resources, this paper emphasizes on designing a reconfigurable round robin arbiter over FPGA which takes parallel requests and processes them with high efficiency and less delay than existing designs. Proposed round robin arbiter encounters with 4 to 12 devices. Results show that with 200% increment in the number of connected devices, only 2.69% increment has been found in the delay. With less delay, proposed round robin arbiter exhibits high speed performance with higher traffic, which is a new feature in comparison with the existing designs.
The dominance of big teams in China's scientific output
Venue: arXiv cs.DL 2020
Year: 2020

Modern science is dominated by scientific productions from teams. A recent finding shows that teams with both large and small sizes are essential in research, prompting us to analyze the extent to which a country's scientific work is carried out by big/small teams. Here, using over 26 million publications from Web of Science, we find that China's research output is more dominated by big teams than the rest of the world, which is particularly the case in fields of natural science. Despite the global trend that more papers are done by big teams, China's drop in small team output is much steeper. As teams in China shift from small to large size, the team diversity that is essential for innovative works does not increase as much as that in other countries. Using the national average as the baseline, we find that the National Natural Science Foundation of China (NSFC) supports fewer small team works than the National Science Foundation of U.S. (NSF) does, implying that big teams are more preferred by grant agencies in China. Our finding provides new insights into the concern of originality and innovation in China, which urges a need to balance small and big teams.
RandomNet: Towards Fully Automatic Neural Architecture Design for Multimodal Learning
Venue: arXiv cs.LG 2020
Year: 2020

Almost all neural architecture search methods are evaluated in terms of performance (i.e. test accuracy) of the model structures that it finds. Should it be the only metric for a good autoML approach? To examine aspects beyond performance, we propose a set of criteria aimed at evaluating the core of autoML problem: the amount of human intervention required to deploy these methods into real world scenarios. Based on our proposed evaluation checklist, we study the effectiveness of a random search strategy for fully automated multimodal neural architecture search. Compared to traditional methods that rely on manually crafted feature extractors, our method selects each modality from a large search space with minimal human supervision. We show that our proposed random search strategy performs close to the state of the art on the AV-MNIST dataset while meeting the desirable characteristics for a fully automated design process.
High Performance Parallel Sort for Shared and Distributed Memory MIMD
Venue: arXiv cs.DC 2020
Year: 2020

We present four high performance hybrid sorting methods developed for various parallel platforms: shared memory multiprocessors, distributed multiprocessors, and clusters taking advantage of existence of both shared and distributed memory. Merge sort, known for its stability, is used to design several of our algorithms. We improve its parallel performance by combining it with Quicksort. We present two models designed for shared memory MIMD (OpenMP): (a) a non-recursive Merge sort and (b) a hybrid Quicksort and Merge sort. The third model presented is designed for distributed memory MIMD (MPI) using a hybrid Quicksort and Merge sort. Our fourth model is designed to take advantage of the shared memory within individual nodes of todays cluster systems, and to eliminate all internal data transfers between different nodes, Our model implements a one-step MSD-Radix to distribute data in ten packets (MPI) while parallel cores of each node use Quicksort to sort their data partitions sequentially then merge and sort them in parallel employing the OpenMp. The performances of all developed models outperform the baseline performance. Hybrid Quicksort and Merge sort outperformed Hybrid Memory Parallel Merge Sort using Hybrid MSD-Radix and Quicksort in Cluster Platforms when sorting small size data, but with larger data the speedup of Hybrid Memory Parallel Merge Sort Using Hybrid MSD-Radix and Quicksort in Cluster Platforms becomes bigger and it keeps improving. The speedup of Distributed Memory Parallel Hybrid Quicksort and Merge Sort is the best.
Data Migration using Datalog Program Synthesis
Venue: arXiv cs.DB 2020
Year: 2020

This paper presents a new technique for migrating data between different schemas. Our method expresses the schema mapping as a Datalog program and automatically synthesizes a Datalog program from simple input-output examples to perform data migration. This approach can transform data between different types of schemas (e.g., relational-to-graph, document-to-relational) and performs synthesis efficiently by leveraging the semantics of Datalog. We implement the proposed technique as a tool called Dynamite and show its effectiveness by evaluating Dynamite on 28 realistic data migration scenarios.
Hierarchical Context Enhanced Multi-Domain Dialogue System for Multi-domain Task Completion
Venue: arXiv cs.AI 2020
Year: 2020

Task 1 of the DSTC8-track1 challenge aims to develop an end-to-end multi-domain dialogue system to accomplish complex users' goals under tourist information desk settings. This paper describes our submitted solution, Hierarchical Context Enhanced Dialogue System (HCEDS), for this task. The main motivation of our system is to comprehensively explore the potential of hierarchical context for sufficiently understanding complex dialogues. More specifically, we apply BERT to capture token-level information and employ the attention mechanism to capture sentence-level information. The results listed in the leaderboard show that our system achieves first place in automatic evaluation and the second place in human evaluation.
The Magic Word: A Coding Tutorial-Game to Engage Female Teenagers in App Design
Venue: arXiv cs.CY 2020
Year: 2020

Educational games are commonly used to motivate students and provide enhanced learning opportunities. Apps and mobile games play an increasingly important role in education and smartphones are part of the daily lives of most female teenagers: Half of mobile gamers are women and 64% of women prefer smartphones to other platforms. However, gender differences in playing behaviour and preferences raises concerns about potential gender inequalities when games are developed for education. In order to develop a tutorial game that suits the female target group and provides challenging tasks to solve, girls were involved at a very early stage of the development cycle and the idea was developed on the basis of surveys and focus group discussions. A first prototype of the game has been tested in a mixed-gender group to get feedback about the learning content, the worked examples, and the whole structure of the game. Finally, a tutorial game with six worked examples has been released in our Luna&Cat app, a programming tool that has been designed for our female target group in particular.
Embodied Synaptic Plasticity with Online Reinforcement learning
Venue: arXiv cs.NE 2020
Year: 2020

The endeavor to understand the brain involves multiple collaborating research fields. Classically, synaptic plasticity rules derived by theoretical neuroscientists are evaluated in isolation on pattern classification tasks. This contrasts with the biological brain which purpose is to control a body in closed-loop. This paper contributes to bringing the fields of computational neuroscience and robotics closer together by integrating open-source software components from these two fields. The resulting framework allows to evaluate the validity of biologically-plausibe plasticity models in closed-loop robotics environments. We demonstrate this framework to evaluate Synaptic Plasticity with Online REinforcement learning (SPORE), a reward-learning rule based on synaptic sampling, on two visuomotor tasks: reaching and lane following. We show that SPORE is capable of learning to perform policies within the course of simulated hours for both tasks. Provisional parameter explorations indicate that the learning rate and the temperature driving the stochastic processes that govern synaptic learning dynamics need to be regulated for performance improvements to be retained. We conclude by discussing the recent deep reinforcement learning techniques which would be beneficial to increase the functionality of SPORE on visuomotor tasks.
Online Joint Bid/Daily Budget Optimization of Internet Advertising Campaigns
Venue: arXiv cs.LG 2020
Year: 2020

Pay-per-click advertising includes various formats (\emph{e.g.}, search, contextual, social) with a total investment of more than 200 billion USD per year worldwide. An advertiser is given a daily budget to allocate over several, even thousands, campaigns, mainly distinguishing for the ad, target, or channel. Furthermore, publishers choose the ads to display and how to allocate them employing auctioning mechanisms, in which every day the advertisers set for each campaign a bid corresponding to the maximum amount of money per click they are willing to pay and the fraction of the daily budget to invest. In this paper, we study the problem of automating the online joint bid/daily budget optimization of pay-per-click advertising campaigns over multiple channels. We formulate our problem as a combinatorial semi-bandit problem, which requires solving a special case of the Multiple-Choice Knapsack problem every day. Furthermore, for every campaign, we capture the dependency of the number of clicks on the bid and daily budget by Gaussian Processes, thus requiring mild assumptions on the regularity of these functions. We design four algorithms and show that they suffer from a regret that is upper bounded with high probability as O(sqrt{T}), where T is the time horizon of the learning process. We experimentally evaluate our algorithms with synthetic settings generated from real data from Yahoo!, and we present the results of the adoption of our algorithms in a real-world application with a daily average spent of 1,000 Euros for more than one year.
Multi-Task Learning with Auxiliary Speaker Identification for Conversational Emotion Recognition
Venue: arXiv cs.CL 2020
Year: 2020

Conversational emotion recognition (CER) has attracted increasing interests in the natural language processing (NLP) community. Different from the vanilla emotion recognition, effective speaker-sensitive utterance representation is one major challenge for CER. In this paper, we exploit speaker identification (SI) as an auxiliary task to enhance the utterance representation in conversations. By this method, we can learn better speaker-aware contextual representations from the additional SI corpus. Experiments on two benchmark datasets demonstrate that the proposed architecture is highly effective for CER, obtaining new state-of-the-art results on two datasets.
Reconfigurable Design for Omni-adaptive Grasp Learning
Venue: arXiv cs.RO 2020
Year: 2020

The engineering design of robotic grippers presents an ample design space for optimization towards robust grasping. In this paper, we adopt the reconfigurable design of the robotic gripper using a novel soft finger structure with omni-directional adaptation, which generates a large number of possible gripper configurations by rearranging these fingers. Such reconfigurable design with these omni-adaptive fingers enables us to systematically investigate the optimal arrangement of the fingers towards robust grasping. Furthermore, we adopt a learning-based method as the baseline to benchmark the effectiveness of each design configuration. As a result, we found that a 3-finger and 4-finger radial configuration is the most effective one achieving an average 96\% grasp success rate on seen and novel objects selected from the YCB dataset. We also discussed the influence of the frictional surface on the finger to improve the grasp robustness.
Rigid-Soft Interactive Learning for Robust Grasping
Venue: arXiv cs.RO 2020
Year: 2020

Inspired by widely used soft fingers on grasping, we propose a method of rigid-soft interactive learning, aiming at reducing the time of data collection. In this paper, we classify the interaction categories into Rigid-Rigid, Rigid-Soft, Soft-Rigid according to the interaction surface between grippers and target objects. We find experimental evidence that the interaction types between grippers and target objects play an essential role in the learning methods. We use soft, stuffed toys for training, instead of everyday objects, to reduce the integration complexity and computational burden and exploit such rigid-soft interaction by changing the gripper fingers to the soft ones when dealing with rigid, daily-life items such as the Yale-CMU-Berkeley (YCB) objects. With a small data collection of 5K picking attempts in total, our results suggest that such Rigid-Soft and Soft-Rigid interactions are transferable. Moreover, the combination of different grasp types shows better performance on the grasping test. We achieve the best grasping performance at 97.5\% for easy YCB objects and 81.3\% for difficult YCB objects while using a precise grasp with a two-soft-finger gripper to collect training data and power grasp with a four-soft-finger gripper to test.
Player Chemistry: Striving for a Perfectly Balanced Soccer Team
Venue: arXiv cs.SI 2020
Year: 2020

Soccer scouts typically ignore the team balance and team chemistry when evaluating potential signings for their teams. Instead, they focus on the individual qualities of the players in isolation. To overcome this limitation of their recruitment process, this paper takes a first step towards objectively providing insight into the question: How well does a team of soccer players gel? We address that question in both an observational and a predictive setting. In the former setting, we observe the chemistry between players who have actually played together, which is relevant when selecting the best possible line-up for a match. In the latter setting, we predict the chemistry between players who have never played together before, which is particularly relevant to assess the fit of a potential signing with the players who are already on the team. We introduce two chemistry metrics that measure the offensive and defensive chemistry for a pair of players, respectively. The offensive chemistry metric measures the pair's joint performance in terms of scoring goals, whereas the defensive chemistry metric measures their joint performance in preventing their opponents from scoring goals. We compute our metrics for 361 seasons in 106 different competitions and present a number of concrete use cases. For instance, we show that the partnership between Mohamed Salah and Roberto Firmino in Liverpool's 2017/2018 Champions League campaign exhibited the highest mutual chemistry between two players. Furthermore, we show that Mesut Özil's chemistry has rapidly started declining following Alexis Sánchez' departure to Manchester United in 2018.
Directional Compliance in Obstacle-Aided Navigation for Snake Robots
Venue: arXiv cs.RO 2020
Year: 2020

Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful motion. This is especially true in the types of terrains considered in this work: environments full of unmodeled features that even the best of maps would not capture, motivating us to develop closed-loop controls to react to those features. To accomplish this, this work uses proprioceptive sensing, mainly the force information measured by the snake robot's joints, to react to unmodeled terrain. We introduce a biologically-inspired strategy called directional compliance which modulates the effective stiffness of the robot so that it conforms to the terrain in some directions and resists in others. We present a dynamical system that switches between modes of locomotion to handle situations in which the robot gets wedged or stuck. This approach enables the snake robot to reliably traverse a planar peg array and an outdoor three-dimensional pile of rocks.
Enhancing simultaneous rational function recovery: adaptive error correction capability and new bounds for applications
Venue: arXiv cs.IT 2020
Year: 2020

In this work we present some results that allow to improve the decoding radius in solving polynomial linear systems with errors in the scenario where errors are additive and randomly distributed over a finite field. The decoding radius depends on some bounds on the solution that we want to recover, so their overestimation could significantly decrease our error correction capability. For this reason, we introduce an algorithm that can bridge this gap, introducing some ad hoc parameters that reduce the discrepancy between the estimate decoding radius and the effective error correction capability.